CN112016759B - Ship track prediction method and device for monitoring blind area and electronic equipment - Google Patents

Ship track prediction method and device for monitoring blind area and electronic equipment Download PDF

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CN112016759B
CN112016759B CN202010916996.6A CN202010916996A CN112016759B CN 112016759 B CN112016759 B CN 112016759B CN 202010916996 A CN202010916996 A CN 202010916996A CN 112016759 B CN112016759 B CN 112016759B
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邓练兵
余大勇
朱俊
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Zhuhai Dahengqin Technology Development Co Ltd
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Abstract

The invention discloses a ship track prediction method and device for monitoring blind areas and electronic equipment, and particularly relates to the technical field of video monitoring. The method comprises the following steps: acquiring video data of a monitoring camera in a shore monitoring system, and determining a target ship in the video data; determining the running distance and the running time of the target ship based on the picture frame of the target ship in the video data, and calculating the running speed of the target ship according to the running distance and the running time; acquiring a field-of-view blind area range of a monitoring camera in a shore monitoring system, and presetting the running time of a target ship in the field-of-view blind area according to the field-of-view blind area range and the running speed of the target ship; the driving time of the target ship in the field of view blind area is preset to be matched with the driving time of the target ship in the field of view blind area, so that the driving track of the target ship in the field of view blind area is determined. The ship track of the monitoring blind area is predicted, and the ship motion track in the monitoring camera view field blind area is acquired.

Description

Ship track prediction method and device for monitoring blind area and electronic equipment
Technical Field
The invention relates to the technical field of video monitoring, in particular to a ship track prediction method and device for a monitoring blind area and electronic equipment.
Background
In the modern society, a great amount of capital is invested in customs, frontier defense and sea police departments to build ship video monitoring systems on the coast, but the monitoring capability of the ship video monitoring system is relatively limited in specific practical applications, such as: the application of the existing ship video monitoring system mainly stays in the aspects of video inquiry after the accident, illegal evidence collection, manual real-time checking and monitoring and the like. And because the deployment coverage capability of the shore monitoring equipment is limited, a plurality of monitoring blind areas and error areas exist. When a ship runs into a field of view blind area between the cameras, the monitoring cameras cannot acquire ship position information, so that ship track data is lost, and ship track data aggregation in a monitoring center is influenced; when the running ship needs to be analyzed by combining a plurality of monitoring points, the missing ship track data can affect the functional integrity of the ship video monitoring system, and the functions of pre-prevention, evidence obtaining in the event and post-supervision cannot be effectively implemented.
Disclosure of Invention
In view of this, embodiments of the present invention provide a ship trajectory prediction method and apparatus for a monitoring blind area, and an electronic device, so as to solve the problems that in the prior art, deployment capability of a shore monitoring device is limited, and a monitoring camera cannot acquire a ship motion trajectory in a field-of-view blind area.
According to a first aspect, an embodiment of the present invention provides a ship trajectory prediction method for monitoring a blind area, including: acquiring video data of a monitoring camera in a shore monitoring system, and determining a target ship in the video data; determining the running distance and running time of the target ship based on the picture frame of the target ship in the video data, and calculating the running speed of the target ship according to the running distance and the running time; acquiring a field-of-view blind area range of a monitoring camera in the shore monitoring system, and presetting the running time of a target ship in the field-of-view blind area according to the field-of-view blind area range and the running speed of the target ship; matching the actual running time of the target ship in the field of view blind area based on the running time of the preset target ship in the field of view blind area to determine the running track of the target ship in the field of view blind area.
The ship track prediction method of the monitoring blind area extracts a target ship from video data, acquires a picture frame of the target ship from the video data, obtains the running distance and the running time of the target ship according to the picture frame of the target ship, and calculates the running speed of the target ship in the video data by using the running time and the running distance; calculating the running time of a preset target ship in a view field blind area according to the view field blind area range of a monitoring camera in a shore monitoring system and the running speed of the target ship, matching the actual running time of the target ship in the view field blind area by using the running time of the preset target ship in the view field blind area, analyzing and judging the running time of the target ship in the view field blind area, and generating the running track of the target ship in the view field blind area according to the analysis and judgment result. The ship track of the monitoring blind area is predicted, and the ship motion track in the monitoring camera view field blind area is obtained.
With reference to the first aspect, in a first implementation manner of the first aspect, acquiring video data of a monitoring camera in a shore monitoring system, and determining a target ship in the video data includes: based on the video data of any monitoring camera in the shore monitoring system, disassembling the video data of the monitoring camera into image frames; and carrying out ship feature extraction on the image frames to determine the target ship.
According to the ship track prediction method for the monitoring blind area, provided by the invention, the image frame is determined from the video data, and the target ship is obtained by means of feature extraction from the image frame, so that the target ship can be accurately extracted, and preparation is made for obtaining the ship motion track in the monitoring camera view field blind area subsequently.
With reference to the first aspect, in a second implementation manner of the first aspect, determining a travel distance and a travel time of the target vessel based on a picture frame of the target vessel in the video data, and calculating a traveling speed of the target vessel according to the travel distance and the travel time includes: acquiring geographic information of a monitoring area in a shore monitoring system; mapping and cascading image frames of the target ship in the video data according to the geographic information of the monitoring area in the shore monitoring system according to the time sequence to determine the running distance of the target ship; calculating the time difference between an initial picture frame and an end picture frame of a target ship in the video data according to the initial picture frame of the target ship in the video data and the end picture frame of the target ship in the video data to obtain the running time of the target ship; obtaining a travel speed of the target vessel based on the travel distance of the target vessel divided by the travel time of the target vessel.
The ship track prediction method of the monitoring blind area comprises the steps of firstly mapping acquired geographic information and picture frames by acquiring the geographic information, cascading the picture frames by utilizing a time sequence to determine data corresponding to the picture frames and actual geographic position information, cascading the picture frames by utilizing the time sequence to obtain the running distance of a target ship, then utilizing the time difference between an initial picture frame of the target ship in video data and an ending picture frame of the target ship in the video data to obtain the running time of the target ship, and finally calculating the running speed of the target ship according to the running distance and the running time to prepare for acquiring the ship motion track in the monitoring camera view field blind area. And the running speed of the target ship is obtained from the video data, so that the analysis of the motion rule of the target ship is facilitated.
With reference to the first aspect, in a third implementation manner of the first aspect, the obtaining a field-of-view blind area range of a monitoring camera in the shore monitoring system includes: acquiring panoramic information of a monitoring area in a shoreside monitoring system and a view field range of a monitoring camera in the shoreside monitoring system; matching the panoramic information of the monitoring area in the shore monitoring system with the field of view range of a monitoring camera in the shore monitoring system, and removing the field of view information matched with the field of view range of the camera in the shore monitoring system from the panoramic information of the monitoring area to obtain the field of view blind area range of the monitoring camera in the shore monitoring system.
According to the ship track prediction method for the monitoring blind area, the field of view range of the camera is removed from the panoramic information of the monitoring area, so that the monitoring blind area is obtained, and preparation is made for obtaining the ship motion track in the field of view blind area of the monitoring camera.
With reference to the first aspect or the third embodiment of the first aspect, in the fourth embodiment of the first aspect, the obtaining a field-of-view blind area range of a monitoring camera in the shore monitoring system, and presetting a traveling time of the target ship in the field-of-view blind area according to the field-of-view blind area range and a traveling speed of the target ship includes: and dividing the range of the field of view blind area and the running speed of the target ship to obtain the running time of the preset target ship in the field of view blind area.
The ship track prediction method for the monitoring blind area provided by the invention obtains the running time of the preset target ship in the field of view blind area by utilizing the field of view blind area range and the running speed of the target ship through a speed formula. Thereby preparing for determining the running track of the target ship in the blind area of the visual field.
With reference to the first aspect, in a fifth embodiment of the first aspect, matching the actual travel time of the target vessel in the field blind area based on the travel time of the preset target vessel in the field blind area to determine the travel track of the target vessel in the field blind area includes: when the actual running time of the target ship in the field of view blind area is less than or equal to the running time of the preset target ship in the field of view blind area, randomly generating a running track of the target ship in the field of view blind area according to the actual running time of the target ship in the field of view blind area and the running range of the target ship in the field of view blind area; and when the actual running time of the target ship in the field of view blind area is longer than the running time of the preset target ship in the field of view blind area, prompting the running time of the target ship in the field of view blind area.
With reference to the fifth embodiment of the first aspect, in the sixth embodiment of the first aspect, when the actual travel time of the target vessel in the field blind area is longer than the travel time of the preset target vessel in the field blind area, the method for prompting the actual travel time of the target vessel in the field blind area further includes: setting the overtime running time of the target ship in the field-of-view blind area; judging whether the actual running time of the target ship in the field-of-view blind area is longer than the sum of the running time of the preset target ship in the field-of-view blind area and the overtime running time of the target ship in the field-of-view blind area; when the actual running time of the target ship in the field of view blind area is less than or equal to the sum of the running time of the preset target ship in the field of view blind area and the overtime running time of the target ship in the field of view blind area, randomly generating a running track of the target ship in the field of view blind area according to the actual running time of the target ship in the field of view blind area and the running range of the target ship in the field of view blind area; and when the actual running time of the target ship in the field-of-view blind area is longer than the sum of the running time of the preset target ship in the field-of-view blind area and the overtime running time of the target ship in the field-of-view blind area, prompting that the target ship track prediction fails.
According to the ship track prediction method for the monitoring blind area, the relationship between the preset running time of the target ship in the field of view blind area and the actual running time of the target ship in the field of view blind area is judged, so that the target ship capable of predicting the track is judged, and the ship track of the monitoring blind area is predicted and the ship motion track in the field of view blind area of the monitoring camera is obtained.
According to a second aspect, an embodiment of the present invention provides a ship trajectory prediction apparatus for monitoring a blind area, including:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring video data of a monitoring camera in a shore monitoring system and determining a target ship in the video data; the calculation module is used for determining the running distance and the running time of the target ship based on the picture frame of the target ship in the video data, and calculating the running speed of the target ship according to the running distance and the running time; the preset module is used for acquiring the range of a view field blind area of a monitoring camera in the shore monitoring system and presetting the running time of the target ship in the view field blind area according to the range of the view field blind area and the running speed of the target ship; and the matching module is used for matching the actual running time of the target ship in the field of view blind area based on the running time of the preset target ship in the field of view blind area so as to determine the running track of the target ship in the field of view blind area.
The ship track prediction device for monitoring the blind area, provided by the invention, acquires a target ship through an acquisition module, processes a picture frame containing the target ship by using a calculation module to obtain the running distance and the running time of the target ship, calculates the running speed of the target ship according to the running distance and the running time of the target ship, sends the running speed of the target ship into a preset module, acquires the running speed of the target ship and the range of the field of view blind area of a monitoring camera in a shore monitoring system through the preset module, outputs the running time of the preset target ship in the field of view blind area, sends the running time of the preset target ship in the field of view blind area into a matching module to be matched with the actual running time of the target ship in the field of view blind area, and outputs the running track of the target ship in the field of view blind area. The ship track of the monitoring blind area is predicted, and the ship motion track in the monitoring camera view field blind area is obtained.
According to a third aspect, an embodiment of the present invention provides an electronic device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing therein computer instructions, and the processor executing the computer instructions to perform the method for predicting a ship trajectory of a monitored blind area according to the first aspect or any one of the embodiments of the first aspect.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the method for predicting a ship trajectory of a supervised blind area as described in the first aspect or any one of the embodiments of the first aspect.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
fig. 1 is a flowchart of a ship trajectory prediction method for a shore monitoring blind area according to an embodiment of the present invention;
fig. 2 is a flowchart of step S3 in the ship trajectory prediction method for a shore monitoring blind area according to the embodiment of the present invention;
fig. 3 is a flowchart of step S4 in the ship trajectory prediction method for a shore monitoring blind area according to the embodiment of the present invention;
fig. 4 is a block diagram illustrating a ship trajectory prediction apparatus for a shore dead zone monitoring according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Reference numerals
1-an acquisition module; 2-a calculation module; 3-presetting a module; 4-a matching module; 5-a processor; 6-a memory; 7-bus.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a ship trajectory prediction method for monitoring a blind area, and fig. 1 is a flowchart of a ship trajectory prediction method for a shore monitoring blind area according to an embodiment of the present invention, specifically as shown in fig. 1, including:
and S1, acquiring video data of a monitoring camera in the shore monitoring system, and determining a target ship in the video data. In this embodiment, first, the video data of the monitoring camera in the shore monitoring system may be a video data set within a preset time period, the video data in the video data set is collected by the monitoring camera arranged at the shore or at the river, and the video data may be collected by a plurality of continuous cameras. Preferably, the video data set can be video data in a single shooting direction, that is, the video data collected from the initial camera to the end camera is a video data set, wherein the target ship moves along the direction from the initial camera to the end camera. After the video data is acquired, the video data is further split into picture frames by using a video decomposition technology, and the required target ship is extracted from the picture frames, wherein the extracted target ship data can be one or more. By extracting the target ship, the subsequent acquisition of the movement track of the target ship in the field-of-view blind area is facilitated, and the accuracy of the movement track of the target ship in the field-of-view blind area is ensured.
Optionally, in this embodiment, step S1 includes:
s10, based on the video data of any monitoring camera in the shore monitoring system, the video data of the monitoring camera is disassembled into image frames. Specifically, the cameras in the shore monitoring system are a plurality of cameras, wherein the plurality of cameras collect monitoring data in real time and transmit the monitoring data back to the control center in the monitoring system, and the control center stores the video data transmitted back in real time. In addition, the video data collected by each monitoring camera needs to be numbered in the same format, and the ship data of each camera in a certain time period can be analyzed subsequently. And converting the obtained video data of the monitoring camera into image frames by using video processing software, so that the target ship can be extracted.
And S11, carrying out ship feature extraction on the image frames to determine the target ship. Specifically, after the image frame is obtained, ship contour feature extraction or ship color feature extraction is performed on the target ship in the image frame by using a feature extraction algorithm to obtain the target ship. It is to be understood which feature extraction means is used for the purpose of obtaining the target ship, and therefore, the specific ship extraction method is not limited in this embodiment. Through obtaining the image frame from the surveillance video, draw the target ship in follow image frame to guarantee to prepare for obtaining the ship movement track in the surveillance camera visual field blind area.
And S2, determining the running distance and the running time of the target ship based on the picture frame of the target ship in the video data, and calculating the running speed of the target ship according to the running distance and the running time.
In this embodiment, after the target ship is determined, the picture frames corresponding to the target ship need to be found in the video data set according to the determined target ship, the picture frames are sequenced according to the time sequence, the running distance and the running time of the target ship are obtained by using the sequencing result, then the running distance and the running time of the target ship in the field of view of the monitoring camera are obtained through the determined target ship, and the running speed of the target ship is calculated according to the speed formula. For example: firstly, determining a target ship, secondly, acquiring a picture frame containing the target ship, processing the picture frame (for example, arranging the picture frame according to time sequence) to obtain the running distance and the running time of the target ship, and finally, calculating to obtain the running speed of the target ship. Therefore, only advancing analysis of the target ship is realized from the video data, and the ship motion track in the field-of-view blind area is obtained.
Optionally, in this embodiment, step S2 includes:
and S20, acquiring the geographic information of the monitoring area in the shore monitoring system. Specifically, the geographic information of the monitored area in the shore monitoring system may be geographic coordinate information, may be actual area data of the monitored area, and may also be an actual total length of the monitored area and an actual picture of the monitored area, and the actual picture may be obtained by surveying and mapping, and the surveying and mapping mode may be that a satellite is used for surveying and mapping, or other surveying and mapping modes.
And S21, mapping the picture frames of the target ship appearing in the video data based on the geographic information of the monitoring area in the shore monitoring system and cascading the picture frames according to the time sequence to determine the running distance of the target ship.
In this embodiment, taking a monitoring area map with geographic information carrying position coordinates as an example, monitoring video data of a certain time period is extracted, picture frames containing a target ship are extracted from the corresponding video data, the picture frames are concatenated according to time sequence and camera numbers to obtain a driving track of the target ship passing through the monitoring camera in the certain time period, the obtained driving track is mapped with the monitoring area map, and actual sailing distance data of the target ship, namely the running distance of the target ship, is calculated through the position coordinates of the monitoring area map. Thereby completing the determination of the travel distance of the target ship in the field of view.
S22, calculating the time difference between the initial picture frame and the end picture frame according to the initial picture frame of the target ship in the video data and the end picture frame of the target ship in the video data to obtain the running time of the target ship; specifically, an initial picture frame of the target ship in the video data is a picture frame of the target ship appearing for the first time in the video data, and the time data is recorded; the ending picture frame of the target ship in the video data is the picture frame of the target ship which finally appears in the video data, and the time data is recorded; and determining the running time of the target ship by calculating the ending picture frame and the initial picture frame. Optionally, the picture frame of the target ship appearing first in the video data to the picture frame of the target ship appearing last in the video data may be concatenated to obtain the running time of the target ship from the beginning to the end in the video data.
S23, obtaining the traveling speed of the target vessel based on the travel distance of the target vessel divided by the travel time of the target vessel. Specifically, the running speed of the target ship is determined by using a speed formula through obtaining the running time and the running distance of the target ship. The travel speed is used to prepare for calculating travel time in the blind zone of the field of view.
S3, obtaining the range of the view field blind area of the monitoring camera in the shore monitoring system, and presetting the running time of the target ship in the view field blind area according to the range of the view field blind area and the running speed of the target ship.
In this embodiment, the view field range of the monitoring camera in the shore monitoring system may be obtained by obtaining the layout range (including the view field blind area) of the shore monitoring system and eliminating the view field range of the monitoring camera in the shore monitoring system in the layout range, so as to obtain the view field blind area range of the monitoring camera in the shore monitoring system, where the blind area range may be distance data, for example, the blind area range is 300 km. And calculating the running time of the target ship in the blind area range according to the blind area range and the obtained running speed of the target ship, wherein the running time is the running time of the preset target ship in the field blind area. The method comprises the steps of calculating the running time of a preset target ship in a field-of-view blind area, preparing for obtaining the ship motion track in the field-of-view blind area, taking the running time of the preset target ship in the field-of-view blind area as a preset reference, and comparing the preset reference with actual data, so that the target ship can be predicted in the blind area.
Preferably, the preset running time of the target ship in the field-of-view blind area can also be the time length for the actual target ship to run through the field-of-view blind area at the average speed in the field-of-view blind area. The method and the device can accurately predict the running track of the target ship in the field blind area range by utilizing the speed information and the time length information of the target ship and the field blind area range by determining the time length of the actual target ship in the field blind area when the target ship runs through the field blind area at the average speed.
Optionally, as shown in fig. 2, the method is a flowchart of step S3 in the ship trajectory prediction method for a shore monitoring blind area according to the embodiment of the present invention; in this embodiment, step S3 specifically includes:
and S30, acquiring panoramic information of a monitoring area in the shore monitoring system and a view field range of a monitoring camera in the shore monitoring system.
In this embodiment, the panoramic information of the monitored area in the shore monitoring system is a panoramic map of the monitored area, and when the field-of-view blind area range of the monitoring camera in the shore monitoring system is actually obtained, since the track prediction needs to be performed on the field-of-view blind area of the target ship, the mountain information around the shore can be not considered when the field-of-view blind area range is determined, and only the river channel and the sea area information need to be considered. Thereby improving matching efficiency.
And S31, matching the panoramic information of the monitoring area in the shore monitoring system with the field of view range of the monitoring camera in the shore monitoring system, and removing the field of view information matched with the field of view range of the camera in the shore monitoring system from the panoramic information of the monitoring area to obtain the field of view blind area range of the monitoring camera in the shore monitoring system.
In this embodiment, the panoramic information is used to match with the field of view range of the camera one by one, and if the field of view range of the camera matches with the image information of the panoramic information, the data in the panoramic information that is consistent with the field of view range of the camera can be removed from the influence of the panoramic information, and the unsuccessfully matched panoramic information is retained, that is, the information is the field of view blind area range of the monitoring camera in the shore monitoring system. The range of the view field blind area of the monitoring camera in the shore monitoring system comprises the area of the view field blind area and the length information of the view field blind area. In preparation for determining the travel time of the preset target vessel within the blind area of the field of view.
And S32, dividing the range of the field of view blind area and the running speed of the target ship to obtain the running time of the preset target ship in the field of view blind area.
In the present embodiment, the travel time of the target ship in the field blind area can be quickly obtained by dividing the field blind area range by the travel speed of the target ship. Preparation is made for prediction of the traveling locus of the target ship in the blind area.
And S4, matching the actual driving time of the target ship in the field blind area based on the preset driving time of the target ship in the field blind area to determine the driving track of the target ship in the field blind area.
In this embodiment, the actual travel time of the target ship in the field blind area can be determined by matching the actual travel time of the target ship in the field blind area with the travel time of the preset target ship in the field blind area as a reference. And predicting the running track of the target ship in the field blind area according to the actual running time of the target ship in the field blind area and the running speed of the target ship. For example: the calculated running time of the preset target ship in the field of view blind area is 10 seconds, and the actual running time of the target ship in the field of view blind area extracted from the video data is 10 seconds, so that the running speed of the target ship corresponding to the running time of the preset target ship in the field of view blind area and the running range of the target ship in the field of view blind area can be considered as the running speed of the actual target ship in the field of view blind area and the running range of the target ship in the field of view blind area, and a random path which is the same as the running speed and the running time of the target ship is randomly generated by using a path generation method, so that the track prediction in the field of view blind area is completed, and a reference basis is provided for effectively implementing functions of pre-prevention, evidence collection in the event and post-supervision.
Optionally, the driving track of the target ship in the field blind area can be calculated to predict according to the time driving time of the target ship in the field blind area and the blind area distance between adjacent monitoring cameras.
For example: the calculated running time of the preset target ship in the field-of-view blind area is 10 seconds, the distance of the field-of-view blind area between adjacent cameras can be directly obtained according to the monitoring map, and when the actual running time of the target ship in the field-of-view blind area between the adjacent cameras extracted from the video data is equal to the running time of the preset target ship in the field-of-view blind area, the target ship track prediction is carried out according to the calculated running time of the preset target ship in the field-of-view blind area and the calculated running speed of the target ship in the field-of-view blind area, so that the ship track prediction of the monitoring blind area can be carried out quickly, and the track prediction speed is improved; when the actual running time of the target ship is less than the running time of a preset target ship in a field of view blind area, the running speed of the target ship in the field of view blind area is determined again by referring to the running time of the current target ship and the distance between the adjacent cameras, the ship track of the monitoring blind area is generated randomly according to the running speed, the running time and the distance between the adjacent cameras, and the running speed of the target ship in the field of view blind area is determined and corrected again by determining the actual running time of the target ship in the field of view blind area and the distance between the adjacent cameras, so that the running track of the target ship in the field of view blind area is closer to actual data, and the analysis of ship data provides reference; when the actual running time of the target ship is longer than the preset running time of the target ship in the field-of-view blind area, the track prediction of the target ship in the field-of-view blind area can be reminded overtime through the prompt information. Therefore, the prediction time of the track prediction is shortened, and the efficiency of the track prediction is improved.
Optionally, as shown in fig. 3, the method is a flowchart of step S4 in the ship trajectory prediction method for a shore monitoring blind area according to the embodiment of the present invention; in this embodiment, step S4 specifically includes:
s40, when the actual driving time of the target ship in the field of view blind area is less than or equal to the preset driving time of the target ship in the field of view blind area, the driving track of the target ship in the field of view blind area is randomly generated according to the actual driving time of the target ship in the field of view blind area and the driving range of the target ship in the field of view blind area.
In this embodiment, the actual travel time of the target vessel in the field of view blind zone may be the time taken for the target vessel to move out of the monitoring camera until reappearing in the camera. Optionally, the field-of-view blind area between adjacent cameras separately obtains the field-of-view blind area and the traveling speed of the target ship, so that the time for passing through the field-of-view blind area between adjacent cameras is determined, and the track of the target ship in the field-of-view blind area is separately predicted, so that the track prediction in the field-of-view blind area is completed, and a reference basis is provided for effectively implementing functions of advance prevention, evidence obtaining in the event and post supervision.
And S41, when the actual driving time of the target ship in the field of view blind area is longer than the preset driving time of the target ship in the field of view blind area, prompting the actual driving time of the target ship in the field of view blind area.
In the embodiment, the actual travel time of the ship larger than the preset target ship in the blind area of the field of view is prompted, and in order to prevent the waiting period of the travel time from being entered when the travel time is too long, hardware resources are occupied, so that the execution efficiency of the track prediction is improved.
Wherein, step S41 further includes:
s411, setting overtime running time of the target ship in the view field blind area.
The overtime driving time can be set through manual setting or software setting, so that the execution efficiency of track prediction is improved, and the problem that computing resources are occupied when the driving time of the target ship in the field-of-view blind area is longer than the preset driving time of the target ship in the field-of-view blind area is solved.
S412, judging whether the actual running time of the target ship in the field-of-view blind area is longer than the sum of the preset running time of the target ship in the field-of-view blind area and the overtime running time of the target ship in the field-of-view blind area.
In this embodiment, the actual travel time of the target ship in the field-of-view blind area can be determined by presetting the sum of the travel time of the target ship in the field-of-view blind area and the overtime travel time of the target ship in the field-of-view blind area, and the travel track of the target ship in the field-of-view blind area can be predicted according to the travel time. Or, the sum of the preset running time of the target ship in the field-of-view blind area and the overtime running time of the target ship in the field-of-view blind area is utilized to prevent the target ship from occupying computing resources due to the fact that the actual running time of the target ship in the field-of-view blind area is longer than the preset running time of the target ship in the field-of-view blind area.
And S413, when the actual running time of the target ship in the field of view blind area is less than or equal to the sum of the preset running time of the target ship in the field of view blind area and the overtime running time of the target ship in the field of view blind area, randomly generating the running track of the target ship in the field of view blind area according to the actual running time of the target ship in the field of view blind area and the running range of the target ship in the field of view blind area.
In the embodiment, the actual travel time of the target ship in the field of view blind area and the travel range of the target ship in the field of view blind area are obtained, the actual travel time and travel range of the target ship in the field of view blind area and the travel speed of the target ship are utilized, the corresponding travel time, travel range and travel speed of the target ship are input into the path generator or the random path model, the ship motion track in the field of view blind area of the monitoring camera is obtained, and the obtained motion track is combined with the ship motion track in the field of view of the monitoring camera, so that the complete ship motion track is obtained, and the track prediction in the field of view blind area is facilitated.
And S414, when the actual running time of the target ship in the field-of-view blind area is longer than the sum of the preset running time of the target ship in the field-of-view blind area and the overtime running time of the target ship in the field-of-view blind area, prompting that the target ship track prediction fails.
In the present embodiment, since in some special cases, such as: when the target ship is lost, the ship track prediction of the monitoring blind area is still carried out, the target ship in the monitoring blind area is not seen late, if the actual running time of the target ship in the field of view blind area is still matched or statistically monitored at the moment, the execution of other steps is influenced, and therefore the overtime running time needs to be set so as to improve the ship track prediction efficiency of the monitoring blind area. For example: when the target ship trajectory prediction fails, a "trajectory prediction error" may be prompted.
The ship track prediction method of the monitoring blind area extracts a target ship from video data, acquires a picture frame of the target ship from the video data, obtains the running distance and the running time of the target ship according to the picture frame of the target ship, and calculates the running speed of the target ship in the video data by using the running time and the running distance; calculating the running time of a preset target ship in a view field blind area according to the view field blind area range of a monitoring camera in a shore monitoring system and the running speed of the target ship, matching the actual running time of the target ship in the view field blind area by using the running time of the preset target ship in the view field blind area, analyzing and judging the actual running time of the target ship in the view field blind area, and generating the running track of the target ship in the view field blind area according to the analysis and judgment result. The ship track of the monitoring blind area is predicted, and the ship motion track in the monitoring camera view field blind area is obtained.
In addition, it should be understood that the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
An embodiment of the present invention further provides a ship trajectory prediction device for monitoring a blind area, and referring to fig. 4, the ship trajectory prediction device is a block diagram of a ship trajectory prediction device for monitoring a blind area on a shore according to an embodiment of the present invention, and the device includes:
an obtaining module 1, configured to obtain video data of a monitoring camera in a shore monitoring system, and determine a target ship in the video data, where the detailed content refers to step S1;
a calculating module 2, configured to determine a travel distance and a travel time of the target ship based on a picture frame of the target ship in the video data, and calculate a traveling speed of the target ship according to the travel distance and the travel time, the details of which are described in step S2;
the presetting module 3 is used for acquiring a field-of-view blind area range of a monitoring camera in the shore monitoring system, presetting the driving time of the target ship in the field-of-view blind area according to the field-of-view blind area range and the driving speed of the target ship, and referring to the step S3 for detailed contents;
a matching module 4, configured to match the driving time of the target ship in the field blind area based on the driving time of the preset target ship in the field blind area, so as to determine a driving track of the target ship in the field blind area, where the detailed content is described with reference to step S4.
In the embodiment, the target ship is obtained through the obtaining module, the picture frame containing the target ship is processed through the calculating module to obtain the running distance and the running time of the target ship, the running speed of the target ship is calculated through the running distance and the running time of the target ship, the running speed of the target ship is sent into the preset module, the preset module obtains the running speed of the target ship and the range of the field-of-view blind area of the monitoring camera in the shore monitoring system, the running time of the preset target ship in the field-of-view blind area is output, the running time of the preset target ship in the field-of-view blind area is sent into the matching module to be matched with the actual running time of the target ship in the field-of-view blind area, and the running track of the target ship in the field-of-view blind area is output. The ship track of the monitoring blind area is predicted, and the ship motion track in the monitoring camera view field blind area is obtained.
An embodiment of the present invention further provides an electronic device, as shown in fig. 5, the electronic device may include a processor 5 and a memory 6, where the processor 5 and the memory 6 may be connected by a bus 7 or in another manner, and fig. 5 takes the connection by the bus as an example.
The processor 5 may be a Central Processing Unit (CPU). The Processor 5 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or any combination thereof.
The memory 6 is a non-transitory computer-readable storage medium, and can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the ship trajectory prediction method for monitoring blind areas in the embodiment of the present invention (for example, the acquiring module 1, the calculating module 2, the presetting module 3, and the matching module 4 shown in fig. 4). The processor 5 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory 6, namely, the ship trajectory prediction method for monitoring the blind area in the above method embodiment.
The memory 6 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 5, and the like. Further, the memory 6 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 6 may optionally include memory located remotely from the processor 5, which may be connected to the processor 5 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 6 and when executed by the processor 5 perform a method of vessel trajectory prediction for monitoring blind spots as in the embodiment of fig. 1-3.
The details of the electronic device may be understood by referring to the corresponding descriptions and effects in the embodiments shown in fig. 1 to fig. 3, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims (9)

1. A ship track prediction method for monitoring blind areas is characterized by comprising the following steps:
acquiring video data of a monitoring camera in a shore monitoring system, and determining a target ship in the video data;
determining the running distance and running time of the target ship based on the picture frame of the target ship in the video data, and calculating the running speed of the target ship according to the running distance and the running time;
acquiring a field-of-view blind area range of a monitoring camera in the shore monitoring system, and presetting the running time of a target ship in the field-of-view blind area according to the field-of-view blind area range and the running speed of the target ship;
matching the actual running time of the target ship in the field of view blind area based on the running time of the preset target ship in the field of view blind area to determine the running track of the target ship in the field of view blind area;
wherein the matching of the actual travel time of the target ship in the field of view blind area based on the travel time of the preset target ship in the field of view blind area to determine the travel track of the target ship in the field of view blind area comprises:
when the actual running time of the target ship in the field of view blind area is less than or equal to the running time of the preset target ship in the field of view blind area, randomly generating a running track of the target ship in the field of view blind area according to the actual running time of the target ship in the field of view blind area and the running range of the target ship in the field of view blind area;
and when the actual running time of the target ship in the field of view blind area is longer than the running time of the preset target ship in the field of view blind area, prompting the actual running time of the target ship in the field of view blind area.
2. The method of claim 1, wherein the obtaining video data of a surveillance camera in a shore monitoring system and determining a target vessel in the video data comprises:
based on the video data of any monitoring camera in the shore monitoring system, disassembling the video data of the monitoring camera into image frames;
and carrying out ship feature extraction on the image frames to determine the target ship.
3. The method of claim 1, wherein said determining a distance traveled and a time traveled by said target vessel based on a frame of said target vessel in said video data and calculating a speed of travel of said target vessel based on said distance traveled and time traveled comprises:
acquiring geographic information of a monitoring area in a shore monitoring system;
mapping the image frames of the target ship appearing in the video data based on the geographic information of the monitoring area in the shore monitoring system and cascading the image frames according to the time sequence to determine the running distance of the target ship;
calculating the time difference between an initial picture frame and an end picture frame of a target ship in the video data according to the initial picture frame of the target ship in the video data and the end picture frame of the target ship in the video data to obtain the running time of the target ship;
obtaining a travel speed of the target vessel based on the travel distance of the target vessel divided by the travel time of the target vessel.
4. The method of claim 1, wherein the obtaining of the range of the field of view blind zones of the monitoring camera in the shore monitoring system comprises:
acquiring panoramic information of a monitoring area in a shoreside monitoring system and a view field range of a monitoring camera in the shoreside monitoring system;
matching the panoramic information of the monitoring area in the shore monitoring system with the view field range of a monitoring camera in the shore monitoring system, and removing the view field information matched with the view field range of the monitoring camera in the shore monitoring system from the panoramic information of the monitoring area to obtain the view field blind area range of the monitoring camera in the shore monitoring system.
5. The method of claim 1, wherein the obtaining of the range of the field of view blind zone of the monitoring camera in the shore monitoring system and the presetting of the travel time of the target ship in the field of view blind zone according to the range of the field of view blind zone and the travel speed of the target ship comprise:
and dividing the range of the field of view blind area and the running speed of the target ship to obtain the running time of the preset target ship in the field of view blind area.
6. The method of claim 1, wherein prompting the actual travel time of the target vessel in the field of view blind area when the actual travel time of the target vessel in the field of view blind area is greater than the travel time of the preset target vessel in the field of view blind area further comprises:
setting the overtime running time of the target ship in the field-of-view blind area;
judging whether the actual running time of the target ship in the field-of-view blind area is longer than the sum of the running time of the preset target ship in the field-of-view blind area and the overtime running time of the target ship in the field-of-view blind area;
when the actual running time of the target ship in the field of view blind area is less than or equal to the sum of the running time of the preset target ship in the field of view blind area and the overtime running time of the target ship in the field of view blind area, randomly generating a running track of the target ship in the field of view blind area according to the actual running time of the target ship in the field of view blind area and the running range of the target ship in the field of view blind area;
and when the actual running time of the target ship in the field-of-view blind area is greater than the sum of the running time of the preset target ship in the field-of-view blind area and the overtime running time of the target ship in the field-of-view blind area, prompting that the target ship track prediction fails.
7. A ship trajectory prediction apparatus for monitoring a blind area, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring video data of a monitoring camera in a shore monitoring system and determining a target ship in the video data;
the calculation module is used for determining the running distance and the running time of the target ship based on the picture frame of the target ship in the video data, and calculating the running speed of the target ship according to the running distance and the running time;
the preset module is used for acquiring the range of a view field blind area of a monitoring camera in the shore monitoring system and presetting the running time of the target ship in the view field blind area according to the range of the view field blind area and the running speed of the target ship;
the matching module is used for matching the actual running time of the target ship in the field of view blind area based on the running time of the preset target ship in the field of view blind area so as to determine the running track of the target ship in the field of view blind area;
wherein the matching of the actual travel time of the target ship in the field of view blind area based on the travel time of the preset target ship in the field of view blind area to determine the travel track of the target ship in the field of view blind area comprises:
when the actual running time of the target ship in the field of view blind area is less than or equal to the running time of the preset target ship in the field of view blind area, randomly generating a running track of the target ship in the field of view blind area according to the actual running time of the target ship in the field of view blind area and the running range of the target ship in the field of view blind area;
and when the actual running time of the target ship in the field of view blind area is longer than the running time of the preset target ship in the field of view blind area, prompting the actual running time of the target ship in the field of view blind area.
8. An electronic device, comprising:
a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the method of predicting ship trajectories of monitored blind areas according to any one of claims 1 to 6.
9. A computer-readable storage medium storing computer instructions for causing a computer to execute the method for vessel trajectory prediction of a supervised blind area of any one of claims 1-6.
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